Question abot EUROC dataset groundtruth
jingshaojing opened this issue · 1 comments
FOR v1_01_easy.zip dataset, the groundtruth as explained is :..\V1_01_easy\mav0\vicon0\data.csv,
however what about V1_01_easy\mav0\state_groundtruth_estimate0\data.csv, as named it is also a groundtruth, and someone use this to compare s-msckf reslult to groundtruth with EVO tool,
as sensor yaml explained the latter:
"sensor_type: visual-inertial
comment: The nonlinear least-squares batch solution over the Vicon pose and IMU measurements including time offset estimation."
So, which one I should to use? or either one will do?
Another question is I use matlab to compare result with vicon grundtruth, but result begin with (0,0,0), vicon begin with another position ,so I think I shoule change the initial for IMU accordind to the timestamp? So ,I want to know my idea is right or not?